///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
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/// 
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/// all copies or substantial portions of the Software.
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///		By making use of the Software for military purposes, you choose to make
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/// @ref gtx_rotate_normalized_axis
/// @file glm/gtx/rotate_normalized_axis.inl
/// @date 2012-12-13 / 2012-12-13
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////

namespace glm {
    template<typename T, precision P>
    GLM_FUNC_QUALIFIER tmat4x4<T, P>
    rotateNormalizedAxis
    (
            tmat4x4<T, P>
    const & m,
    T const &angle,
            tvec3<T, P>
    const & v
    ) {
    T const a = angle;
    T const c = cos(a);
    T const s = sin(a);

    tvec3 <T, P> const axis(v);

    tvec3 <T, P> const temp((static_cast<T>(1) - c) * axis);

    tmat4x4<T, P> Rotate(uninitialize);
    Rotate[0][0] = c + temp[0] * axis[0];
    Rotate[0][1] = 0 + temp[0] * axis[1] +
    s *axis[2];
    Rotate[0][2] = 0 + temp[0] * axis[2] -
    s *axis[1];

    Rotate[1][0] = 0 + temp[1] * axis[0] -
    s *axis[2];
    Rotate[1][1] = c + temp[1] * axis[1];
    Rotate[1][2] = 0 + temp[1] * axis[2] +
    s *axis[0];

    Rotate[2][0] = 0 + temp[2] * axis[0] +
    s *axis[1];
    Rotate[2][1] = 0 + temp[2] * axis[1] -
    s *axis[0];
    Rotate[2][2] = c + temp[2] * axis[2];

    tmat4x4<T, P> Result(uninitialize);
    Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
    Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
    Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
    Result[3] = m[3];
    return
    Result;
}

template<typename T, precision P>
GLM_FUNC_QUALIFIER tquat<T, P>
rotateNormalizedAxis
(
        tquat<T, P>
const & q,
T const &angle,
        tvec3<T, P>
const & v
)
{
tvec3 <T, P> const Tmp(v);

T const AngleRad(angle);
T const Sin = sin(AngleRad * T(0.5));

return
q *tquat<T, P>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
//return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
}
}//namespace glm
